Description:DESCRIPTION
TECHNICAL FIELD
This disclosure relates generally to a force verification system, and more particularly to a gripping force verification system of a gripper.
BACKGROUND
The verification of the gripping force exerted by a gripper is a crucial step, particularly in the context of robotic surgery. The application of an appropriate amount of force enhances the precision of critical surgical procedures, such as suturing and tissue manipulation. Moreover, the application of excessive force may lead to tissue damage, potentially leading to complications such as bleeding, necrosis, or delayed healing. On the other hand, insufficient force may compromise the proper handling or sealing of tissue.
One of the primary challenges in verifying the gripping force of a gripper arises from the limited opening angle and range of motion of the jaws of the gripper. The constraint hinders accurate placement of force sensors or load cells between the jaws of the gripper for measurement. Further, the miniature sensors typically used for force verification restrict the testing to conditions in which the jaws of the gripper are nearly fully closed, which may not reflect realistic force application. Additionally, the installation of sensors poses another challenge, as the small sensors often require access from both sides of the gripper. The requirement complicates the integration of sensors within the confined space between the jaws of the gripper to ensure effective measurement.
Therefore, there is a pressing need to address the above shortcomings and provide a force verification system capable of measuring gripping force of a gripper across broader range of jaws angular position and operational conditions.
SUMMARY
In an embodiment, a gripping force verification (GFV) system is disclosed. The GFV may include a force sensing unit. The force sensing unit may include a plurality of load sensors integrated within an external housing. The plurality of load sensors may be interconnected horizontally or vertically with a plurality of tension strings. Further, the plurality of tension strings may be configured to be gripped and compressed by a gripper. The gripper may be actuated to impart a gripping action on the plurality of tension strings to generate a tension force along each tension string within the plurality of tension strings. Further, in response to the tension force from the plurality of tension springs, the force sensing unit may be configured to generate sensor data corresponding to the tension force. Furthermore, the GFV system may include a controller communicably coupled to the force sensing unit to determine a resultant force based on the sensor data. The resultant force is representative of a gripping force resulted by the gripping action of the gripper.
In an embodiment, a method of verifying a gripping force is disclosed. The method may include determining by a controller, a resultant force based on sensor data generated by a force sensing unit. The force sensing unit may include a plurality of load sensors integrated within an external housing. The plurality of load sensors may be interconnected horizontally or vertically with a plurality of tension strings. Further, the sensor data may be generated based on a tension force generated along the plurality of tension strings. The tension force may be generated in response to a gripping action on the plurality of tension strings by a gripper. The resultant force is representative of a gripping force resulted from the gripping action of the gripper.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, serve to explain the disclosed principles.
FIG. 1 illustrates a perspective view of a gripping force verification (GFV) system, in accordance with an embodiment of the present disclosure.
FIG. 2 illustrates an exploded view of the GFV system, in accordance with an embodiment of the present disclosure.
FIG. 3 illustrates a perspective view of a testing unit equipped with the GFV system, in accordance with an embodiment of the present disclosure.
FIG. 4 illustrates a perspective view of the GFV system with a gripper, in accordance with an embodiment of the present disclosure.
FIG. 5 illustrates a functional block diagram of the testing unit equipped with the GFV system, in accordance with an embodiment of the present disclosure.
FIG. 6 illustrates a functional module diagram of the force verification system, in accordance with an embodiment of the present disclosure.
FIG. 7 illustrates a flowchart of a methodology for verifying the gripping force of a gripper, in accordance with an embodiment of the present disclosure.
DETAILED DESCRIPTION OF THE DRAWINGS
Exemplary embodiments are described with reference to the accompanying drawings. Wherever convenient, the same reference numbers are used throughout the drawings to refer to the same or like parts. While examples and features of disclosed principles are described herein, modifications, adaptations, and other implementations are possible without departing from the scope of the disclosed embodiments. It is intended that the following detailed description be considered as exemplary only, with the true scope being indicated by the following claims. Additional illustrative embodiments are listed.
Further, the phrases “in some embodiments”, “in accordance with some embodiments”, “in the embodiments shown”, “in other embodiments”, and the like, mean a particular feature, structure, or characteristic following the phrase is included in at least one embodiment of the present disclosure and may be included in more than one embodiment. In addition, such phrases do not necessarily refer to the same embodiments or different embodiments. It is intended that the following detailed description be considered exemplary only, with the true scope and spirit being indicated by the following claims.
As explained earlier, one of the primary challenges in verifying the gripping force of a gripper arises from the limited opening angle and range of motion of the jaws of the gripper. The constraint hinders accurate placement of force sensors or load cells between the jaws of the gripper for measurement. Further, the miniature sensors typically used for force verification restrict the testing to condition in which the jaws of the gripper are nearly fully closed, which may not reflect realistic force application. Additionally, the installation of sensors poses another challenge, as the small sensors often require access from both sides of the gripper. The requirement complicates the integration of sensors within the confined space between the jaws of the gripper to ensure effective measurement.
To this end, a gripping force verification system (GFV) is disclosed. The GFV system may include a force sensing unit. The force sensing unit may include a plurality of load sensors integrated within an external housing. The plurality of load sensors may be interconnected horizontally or vertically with a plurality of tension strings. Further, the plurality of tension strings may be configured to be gripped and compressed by a gripper. The gripper may be actuated to impart a gripping action on the plurality of tension strings to generate a tension force along each tension string within the plurality of tension strings. Further, in response to the tension force, the force sensing unit may be configured to generate sensor data corresponding to the tension force. Furthermore, the GFV system may include a controller communicably coupled to the force sensing unit, to determine a resultant force based on the sensor data. The resultant force is a representative of a gripping force resulted by the gripping action of the gripper. The following paragraphs describe the present disclosure with reference to Figs 1-6.
FIG. 1 illustrates a perspective view 100 of a gripping force verification (GFV) system 102, in accordance with an embodiment of the present disclosure. FIG. 2 illustrates an exploded view 200 of the GFV system 102, in accordance with an embodiment of the present disclosure.
A GFV system 102 may be configured to measure and evaluate a resultant force exerted by a pair of jaws (not shown in FIG. 1) of a gripper (not shown in FIG. 1) during manipulation of the gripper. The manipulation of the gripper may include dynamic controlling of a gripping force exerted by the pair of jaws of the gripper. The GFV system 102 may test and verify the forces exerted by the gripper. The gripper may include but not limited to, industrial gripper, surgical gripper, and the like. Further, the GFV system 102 may be configured to transduce mechanical force inputs into corresponding electrical signals to enable real-time monitoring and verification of gripping forces exerted by the gripper.
As evident in FIG. 1, the GFV system 102 may include an external housing 104, which may be embodied as a structural, rigid enclosure. The external housing 104 may be mounted either to a testing unit, a robotic controller, a data acquisition interface, and the like. The external housing 104 may be made of material with a high strength-to-weight ratio, thermal stability, and electromagnetic interference (EMI) shielding capability, such as but not limited to aluminum alloy, carbon fiber reinforced polymer, titanium alloy, and the like.
The external housing 104 may define a front portion 106, a rear portion (not shown) disposed opposite to the front portion 106, a top portion 108 perpendicularly adjoined to front portion 106, a bottom portion (not shown) disposed opposite to the top portion 108, and a pair of side portions 110, 111 disposed perpendicularly to the front portion 106 and the top portion 108. The front portion 106 may be configured to facilitate a gripping action. This is explained in conjunction with FIG. 2 – FIG. 4. The rear portion may be configured to facilitate access to external housing 104 for maintenance, assembly, and calibration purposes. Further, the rear portion may be slidingly engaged to a shutter 112. The shutter 112 may be slidingly engaged with the external housing 104 by using a sliding mechanism such as, but not limited to, a dovetail slide, a telescopic slide mechanism, a nylon bushing, and the like. The bottom portion may be configured to mount the external housing 104 onto the testing unit. Further, the top portion 108 may include a plurality of apertures 114 configured to mount a calibration tool for enabling calibration process. The assembly for enabling the calibration is explained in greater details hereinafter.
As evident from FIG. 2, the GFV system 102 may include a force sensing unit 204 integrated within the external housing 104. The force sensing unit 204 may include a plurality of load sensors 206, 208, 210, 212 coupled to the pair of side portions 110, 111. By way of example, the plurality of load sensors 206, 208, 210, 212 may include tri-axial load sensors, such as but not limited to strain gauge-based tri-axial load sensors, piezoelectric tri-axial load sensors, capacitive tri-axial load sensors, microelectromechanical systems (MEMS)-based tri-axial load sensors, and the like. It is to be appreciated by the person of the ordinary skilled in the art, that the plurality of load sensors 206, 208, 210, 212 may be strategically positioned within the external housing 104 to form one or more opposing load-measuring pairs. The one or more opposing load-measuring pairs may include a first pair of load sensors 206, 208 and a second pair of load sensors 210, 212. It is to be noted that the first pair of load sensors 206, 208 may be separated from the second pair of load sensors 210, 212 by a predefined distance.
The force sensing unit 204 may include a plurality of tension strings 214, 216 connected to the plurality of load sensors 206, 208, 210, 212. By way of example, the plurality of tension strings 214, 216 may be made of material with high tensile strength and low elasticity, such as but not limited to Kevlar cords, stainless steel wire, aramid fiber, nylon fiber, carbon fiber, and the like. Moreover, the plurality of tension strings 214, 216 may replicate a plurality of tissues in a human body. Therefore, when the gripping action induced on the plurality of strings 214, 216 may corresponds to the gripping action induced on the plurality of tissues of the human body such that, the gripping action thereon may be calculated. The calculation of the gripping action is explained in greater detail hereinafter.
Further, to facilitate force transmission and simulate gripping action, the plurality of load sensors 206, 208, 210, 212 may be interconnected horizontally or ally with the plurality of tension strings 214, 216. The plurality of tension strings 214, 216 may include a first tension string 214 and a second tension string 216. The first tension string 214 and the second tension string 216 may be parallelly positioned from each other.
Particularly, when the plurality of load sensors 206, 208, 210, 212 are interconnected horizontally, the first tension string 214 may interconnect the first pair of load sensors 206, 208. Further, the second tension string 216 may interconnect the second pair of load sensors 210, 212. Conversely, when the plurality of load sensors 206, 208, 210, 212 are interconnected vertically, the first tension string 214 may interconnect the load sensor 206 from the first pair of load sensors 206, 208 and the load sensor 210 from the second pair of load sensors 210, 212. Further, the second tension string 216 may interconnect the load sensor 208 from the first pair of load sensors 206, 208 and the load sensor 212 from the second pair of load sensors 210, 212. The plurality of tension strings 214, 216 may be coupled such that a pre-tension may be created therebetween. In an embodiment, the pre-tension within the plurality of tension strings 214, 216 may be preset to zero. Further, the gripping action may be exerted on the plurality of strings 214, 216 incrementally such that a resultant force is calculated for verifying the gripping action of the gripper. This is explained in greater details in conjunction with FIG. 5 - FIG. 6.
Further, the plurality of tension strings 214, 216 may be configured to be gripped and compressed by a gripper (not shown in FIG. 2). Particularly, the gripper may be actuated by an actuator i.e., an electric motor to impart the gripping action on the plurality of tension strings 214, 216 to generate a tension force along each tension string 214, 216 within the plurality of tension strings 214, 216. Furthermore, in response to the tension force, the force sensing unit 204 may be configured to generate sensor data. Hence, the plurality of tension strings 214, 216 may serve as a primary interface for the transfer of force from the pair of jaws of the gripper to the force sensing unit 204. It is to be noted that the gripper may impart the gripping action perpendicularly on the plurality of tension strings 214, 216.
In an embodiment, when the plurality of load sensors 206, 208, 210, 212 are interconnected horizontally, the pair of jaws of the gripper may be aligned vertically and may be actuated towards the GFV system 102 to impart the gripping action perpendicularly on the plurality of tension strings 214, 216. Conversely, when the plurality of load sensors 206, 208, 210, 212 are interconnected vertically, the pair of jaws of the gripper may be aligned horizontally and actuated towards the GFV system 102 to impart the gripping action perpendicularly on the plurality of tension strings 214, 216. Referring to FIG. 2, the plurality of load sensors 206, 208, 210, 212 may be interconnected horizontally to ensure consistent and realistic simulation of the gripper. It must be understood to a person skilled in the art that the arrangement of the plurality of strings may not be restricted to a horizontal arrangement or a vertical arrangement , but may also include any arrangement that accurately verifies the generation of forces thereon.
The first tension string 214 may be separated from the second tension 216 string by a predefined distance. It is to be noted that the predefined distance may be based upon a maximum jaw span of the gripper under test. By way of example, the maximum jaw span may be maximum opening capacity of the pair of jaws while performing a surgical operation, and the like. For instance, if the maximum jaw span of the gripper under test is 20 mm, the predefined distance between the first tension string 214 and the second tension string 216 may be set to 18 mm, allowing 1 mm tolerance for each tension string 214, 216 for maintaining an alignment, an appropriate jaw width, and a tolerance for slight motion error. It is to be noted that in case the predefined distance exceeds the maximum jaw span, the pair of jaws may not enter through the access hole to the plurality of tension strings 214, 216.
The external housing 104 may include a first mounting slot 218 and a second mounting slot 220, each formed on the corresponding side portion 110 of the external housing 104. The first mounting slot 218 may be configured to mount the load sensor 206 from the first pair of load sensors 206, 208, and the load sensor 210 from the second pair of load sensors 210, 212. Similarly, the second mounting slot 220 may be configured to mount the load sensor 208 from the first pair of load sensors 206, 208 and the load sensor 212 from the second pair of load sensors 210, 212. Each load sensor 206, 208, 210, 212 may be mounted on the mounting slot 218 and 220 by using fastening methods such as but not limited to latches, screws, detent pins and the like to maintain correct geometry and force path. The first mounting slot 218 and the second mounting slot 220 may be designed to support multi-directional loads while minimizing mechanical stress and vibration during operation. It is to be noted that, the plurality of sensors 206, 208, 210, 212 may be calibrated by using various calibration tools.
The top portion 108 of the external housing 104 may include a plurality of apertures 114 configured to mount the calibration tool for calibrating the plurality of load sensors 206, 208, 210, 212. The calibration tool may include but not limited to, calibrated spring gauge, force gauge, universal testing machine, pressure calibrators, and the like. The calibration tool configures the plurality of load sensors 206, 208, 210, 212 to a predefined load initially i.e., prior to initiating a procedure for a force measurement, a force verification, and the like. Further, a bottom portion 221 of the external housing 104 may include a plurality of mounting boss 222 for mounting the external housing 104 onto the testing unit. As apparent from FIG. 1, the front portion 106 of the external housing 104 may include an access hole 116 aligned with the plurality of tension strings 214, 216. The access hole 116 may be configured to enable the gripper to enter the external housing 104 therethrough and impart the gripping action directly onto the plurality of tension strings 214, 216. Additionally, the front portion 106 may include a plurality of reinforcing ribs 224 oppositely disposed to the shutter 112. The plurality of reinforcing ribs 224 may be configured to provide structural strength, torsional resistance and bending load resistance to the GFV system 102.
Each load sensor 206, 208, 210, 212 may include a tensioner 226, 228 and a post 230, 232, coupled thereto. The tensioner 226, 228 and the post 230, 232 may be cooperatively configured to tune the plurality of load sensors 206, 208, 210, 212 to a preset condition before the plurality of tension strings 214, 216 are gripped by the gripper. For instance, to adjust the tension of the first tension string 214 with the first pair of load sensor 206, 208, the tensioner 226 may be coupled to the load sensor 206, and the post 230 may be coupled to the load sensor 208. Correspondingly, to adjust the tension of the second tension string 216 with the second pair of load sensors 210, 212, the tensioner 228 may be coupled to the load sensor 210, and the post 232 may be coupled to the load sensor 212. The tensioner 226, 228 and the post 230, 232 enables fine tuning of the preload forces in the plurality of load sensors 206, 208, 210, 212 to ensure linear and balanced transmission of tension force when the plurality of tension strings 214, 216 are being manipulated by the gripper. For example, the preload forces may be exerted by a screw-based tensioner with a threaded post, a spring-loaded tensioner against a fixed post, and the like.
In order to accommodate grippers of distinct geometries and to adjust the predefined distance between the first tension string 214 and the second tension string 216, a plurality of spacers 236, 238 may be coupled to the force sensing unit 204. The plurality of spacers 236, 238 may include a first spacer 236 and a second spacer 238. Particularly, the first spacer 236 may be positioned between the load sensor 206 and the load sensor 210, and the second spacer 238 may be positioned between the load sensor 208 and the load sensor 212.
The plurality of spacers 236, 238 may be configured to maintain an alignment of the tension string and ensure uniform predefined distance between the first tension string 214 and the second tension string 216. Additionally, each load sensor 206, 208, 210, 212 may be coupled to a controller via a plurality of cables 234 configured to transmit the load sensor data to the controller. Moreover, for cable management and an electromagnetic interference (EMI) shielding, a cable routing pockets (not shown in figure) may be incorporated within the external housing 104. The cable routing pockets may be configured to allow organized passage of the plurality of cables 234 from the force sensing unit 204 to the controller without interference and mechanical entanglement.
FIG. 3 illustrates a perspective view 300 of a testing unit 302 equipped with the gripping force verification (GFV) system 102, in accordance with an embodiment of the present disclosure. FIG. 4 illustrates a perspective view 400 of the GFV system 102 with a gripper 304 imparting the gripping action on the plurality of tension strings 214, 216, in accordance with an embodiment of the present disclosure. The testing unit 302 may include the GFV system 102, a mounting bracket 306, an actuation mechanism 308, a controller 310, a power supply unit 312, a support bracket 314, and a display interface 316. Further, the testing unit 302 may include the mounting bracket 306 slidingly engaged with the testing unit 302 and operatively coupled to the actuation mechanism 308. Further, the gripper 304 may be horizontally positioned on the mounting bracket 306, which when actuated, may move towards the GFV system 102. Further, the actuation mechanism 308 may be configured to provide controlled linear translation motion to the mounting bracket 306 equipped with the gripper 304 towards the GFV system 102. By way of example, the actuation mechanism 308 may include an actuator which may include but not be limited to a pneumatic actuator, an electric motor, hydraulic actuator, and the like.
Further, the actuator mechanism 308 may be configured to provide a linear motion and a gripping action to the gripper 304 such that the gripping force may be generated. The gripping force generated may be verified against predefined force values to ensure the correct amount of the gripping force is applied in performing the surgical tasks, such as suturing and tissue manipulation irrespective of a limited opening angle of the gripper. This is explained in detail, hereinafter. As evident in FIG. 4, upon actuation of the actuation mechanism 308, the gripper 304 may be configured to enter the external housing 104 of the GFV system 102 via the access hole 116. In an embodiment, the gripper 304 may include a pair of jaws 402 configured to be engaged to the plurality of tension strings 214, 216. By way of example, the pair of jaws 402 may include rotating jaws, linear sliding jaws, and the like. Further, the pair of jaws 402 may impart the gripping action onto the plurality of tension strings 214, 216 based on actuation of the actuation mechanism. By way of example, the gripping action may include but not limited to gripping and compressing of the plurality of strings 214, 216 by a predefined gripping force which may replicate the real-life scenarios such as but not limited to the plurality of tissues of human body. It is to be noted that, the plurality of strings 214, 216 may be under the pre-tension which may be preset as zero for verification of the gripping action. Further, the plurality of tension strings 214, 216, upon being gripped and compressed by the gripper 304, may result in generation of a tension force along the length of the plurality of tension strings 214, 216. Accordingly, the tension force generated may be sensed by the plurality of load sensors 206, 208, 210, 212 of the force sensing unit 204. The plurality of load sensors 206, 208, 210, 212 , in response to the tension force, may be configured to generate a sensor data corresponding to the tension force.
Further, the testing unit 302 may include the support bracket 314 positioned between the external housing 104 and the mounting bracket 306. The support bracket 314 may be configured to prevent deflection and sagging due to the actuation of the gripper 304 and maintain mechanical alignment.
Additionally, the testing unit 302 may include the controller 310. The controller 310 may be communicably coupled to the plurality of load sensors 206, 208, 210, 212 of the force sensing unit 204 and the actuation mechanism 308. The controller 310 may be configured to determine a resultant force based on the sensor data received by the force sensing unit 204. It is to be noted that the resultant force may be representative of the gripping force resulting from the gripping action of the gripper 304. Further, during initial setup, the controller 310 calibrates the plurality of load sensors 206, 208, 210, 212 based on the sensor data received therefrom when the plurality of load sensors 206, 208, 210, 212 are configured to the predefined load using the calibration tool.
Further, the controller 310 may be configured to analyze the resultant force with a predefined force range to verify the gripping force exerted by the gripper 304. It is to be noted that the predefined force range may be based on the type of gripper being used for testing. For instance, while testing an industrial gripper such as a hydraulic gripper, the predefined force range may be 1000-5000 N and for automotive grippers, the predefined force range may be 200-1000 N. In other scenarios for testing surgical grippers, such as grippers used for bone manipulation, the predefined force range may be 5-10 N and for testing grippers used in tissue handling and suturing, the predefined force range may be 0.2-1 N.
Further, the controller 310 may operate upon receiving a user input either by the display interface 316 or by an external device. The user may interact with the controller 310 via a user interface 520 accessible via the display interface 316. The user input may include calibration input, number of gripping cycles, speed of actuation, gripper selection, test mode selection, load sensor tuning, reset, actuation of the gripper, type of force, and the like. Further, the testing unit 302 may include the power supply unit 316 to supply power to the actuation mechanism 308, the GFV system 102, and the controller 310.
Fig. 5 illustrates a functional block diagram 500 of the testing unit 302 equipped with the GFV system 102, in accordance with an embodiment of the present disclosure. The testing unit 302 may include a controller 502 which may be same as the controller 310 (Refer to FIG. 3), an external device 512, a data server 514, and a display interface 516 which may be same as the display interface 316 communicably coupled to each other through a wired or wireless communication network 510. The controller 502 may include a processor 504, a memory 506, and an input/output (I/O) device 508. Further, the display interface 516 may include an user interface 518.
In an embodiment, examples of processor(s) 504 may include but are not limited to, an Intel® Itanium® or Itanium 2 processor(s), or AMD® Opteron® or Athlon MP® processor(s), Motorola® lines of processors, Nvidia®, FortiSOC™ system on a chip processors or other future processors.
In an embodiment, the memory 506 may store instructions that, when executed by the processor 504, may cause the processor 504 to execute instructions adapted to manage and monitor different components of the testing unit 302. The controller 502 may be configured to receive user input, actuate the gripper 304, process data received from the force sensing unit 204, and determine the resultant force. The memory 506 may also store various data (for example, user inputs, calibration data, peak force value, standard deviation, gripping cycle, system configuration parameters, and the like) that may be captured, processed, and/or required by the GFV system 102.
In an embodiment, the memory 506 may be a non-volatile memory or a volatile memory. Examples of non-volatile memory may include but are not limited to, a flash memory, a Read Only Memory (ROM), a Programmable ROM (PROM), Erasable PROM (EPROM), and Electrically EPROM (EEPROM) memory. Further, examples of volatile memory may include but are not limited to, Dynamic Random Access Memory (DRAM), and Static Random-Access memory (SRAM).
In an embodiment, the I/O device 508 may comprise of variety of interface(s), for example, interfaces for data input and output devices, and the like. The I/O device 508 may facilitate inputting of instructions by a user communicating with the computing device 502. In an embodiment, the I/O device 508 may be wirelessly connected to the controller 502 through wireless network interfaces such as Bluetooth®, infrared, or any other wireless radio communication known in the art. In an embodiment, the I/O device 508 may be connected to a communication pathway for one or more components of the controller 502 to facilitate the transmission of inputted instructions and output results of data generated by various components such as, but not limited to, processor(s) 504 and memory 506.
In an embodiment, the data server 514 may be enabled in a remote cloud server or a co-located server and may include a database to store an application, a large language model (LLM) and other data necessary for the GFV system 102 to perform verification of the gripping force generated by the gripping action of the pair of jaws 402 of the gripper 304. In an embodiment, the data server 514 may store data input by an external device 512 (e.g., prompts) or output generated by the controller 502. It is to be noted that the application may be designed and implemented as either a web application or a software application. The web application may be developed using a variety of technologies such as HTML, CSS, JavaScript, and various web frameworks like React, Angular, or Vue.js. It may be hosted on a web server and accessible through standard web browsers. On the other hand, the software application may be a standalone program installed on users' devices, which may be developed using programming languages such as Java, C++, Python, or any other suitable language, depending on the platform. In an embodiment, the controller 502 may be communicably coupled with the data server 514 through the communication network 510.
In an embodiment, the communication network 510 may be a wired or a wireless network or a combination thereof. The communication network 510 can be implemented as one of the different types of networks, such as but not limited to, ethernet IP network, intranet, local area network (LAN), wide area network (WAN), the internet, Wi-Fi, LTE network, CDMA network, 5G and the like. Further, the communication network 510 can either be a dedicated network or a shared network. The shared network represents an association of the different types of networks that use a variety of protocols, for example, Hypertext Transfer Protocol (HTTP), Transmission Control Protocol/Internet Protocol (TCP/IP), Wireless Application Protocol (WAP), and the like, to communicate with one another. Further the communication network 510 can include a variety of network devices, including routers, bridges, servers, controllers, storage devices, and the like.
In an embodiment, the controller 502 may receive a user input for performing the calibration of the force sensing unit 204, actuating the gripper 304 towards the GFV system 102, determining the resultant force and analyzing the resultant force with a predefined force range from an external device 512 through the communication network 510. In an embodiment, the controller 502 and the external device 512 may be a computing system, including but not limited to, a smart phone, a laptop computer, a desktop computer, a notebook, a workstation, a server, a portable computer, a handheld, or a mobile device. In an embodiment, the controller 502 may be, but not limited to, in-built into the external device 512 or may be a standalone controller.
The system 500 may further include the display interface 516. The user may interact with the controller 502 via the user interface 518 accessible via the display interface 516.
FFIG. 6 illustrates a functional module diagram 600 of the GFV system 102, in accordance with an embodiment of the present disclosure. In an embodiment, the force sensing unit 204 may include a tuning module 602, an actuating module 604, a gripping module 606, a generating module 608, and a computing module 610.
The tuning module 602 may be configured to tune the force sensing unit 204 and the plurality of tension strings 214, 216 to a preset condition during initial setup or reconfiguration. The preset condition may include pre-tensioning the plurality of tension strings 214, 216 using the tensioner 226, 228 and the post 230, 232. Further, the preset condition may include taring the force sensing unit 204 to establish a force-free baseline for measurement. Particularly, by tuning to the preset condition, the tuning module 602 may set the output to zero under a no-load condition, which may eliminate initial offset due to string tension, mounting pressure, or sensor bias. Moreover, pre-tensioning the plurality of tension strings 214, 216 may ensure that only dynamic force from the gripper 304 may be recorded by the force sensing unit 204 during testing. Further, each load sensor 206, 208, 210, 212 of the force sensing unit 204 may be individually calibrated by the calibration tool via the plurality of apertures 114 formed on the top portion 108 of the external housing 104. During calibration, a standard force value with respect to the measurement range may be applied to each load sensor 206, 208, 210, 212 along all three axes (X, Y, and Z). Each load sensor 206, 208, 210, 212 may be tested with forces up to the maximum rated capacity along each axis, and the sensor data from each load sensor may be recorded by the controller 502. Further, based on the sensor data received therefrom, the tuning module 602 may calibrate the plurality of load sensors 206, 208, 210, 212. Hence, the tuning module 602 may ensure that each axis of the plurality of load sensors 206, 208, 210, 212 is accurately oriented such that the positive and negative directions correspond to the direction of force. Further, the tuning module 602 may set the predefined distance between the first tension string 214 and the second tension string 216 to match the maximum jaw span of the gripper 304.
The actuation module 604 may be configured to actuate the actuation mechanism 308 such that the gripper 304 may move towards the GFV system 102. Particularly, upon the completion of the tuning and calibration process, the gripper 304 may be positioned onto the mounting bracket 306. The pair of jaws 402 of the gripper 304 may be opened by the actuation mechanism 308. Further, the mounting bracket 306 equipped with the gripper 304 may be actuated by the actuator of the actuation mechanism 308, which may gradually move the gripper 304 towards the GFV system 102.
The gripping module 606 may be configured to actuate the actuation mechanism 308 such that the plurality of tension strings 214, 216 may be gripped and compressed by the pair of jaws 402 of the gripper 304. Particularly, upon actuation, the gripper 304 may move towards the GFV system 102. In other words, the gripper 304 may be configured to enter the external housing of the GFV system 102 through the access hole 116 and impart the gripping action onto the plurality of tension strings 214, 216. The plurality of tension strings 214, 216, upon being gripped and compressed by the gripper 304, generates the tension force along the length of the plurality of tension strings 214, 216. The plurality of tension strings 214, 216 transfers the generated tension force to the force sensing unit 204.
Particularly, in the case of a surgical gripper, the plurality of tension strings 214, 216 may act as a contact surface that may mimic tissue during gripping action. As a result, the gripper 304 may engage with the plurality of tension strings 214, 216 in a manner that may simulate the mechanical condition encountered during engagement with human tissue.
The generating module 608 may be configured to generate the sensor data i.e., the gripping force corresponding to the tension force from the plurality of sensors 206, 208, 210, 212. Particularly, as the gripper 304 compresses the plurality of tension strings 214, 216, each load sensor 206, 208, 210, 212 of the force sensing unit 204 records the forces experienced along three axes (X, Y, and Z). Accordingly, the first pair of load sensors 206, 208 may measure a first set of forces along the three axes (Fx1, Fy1, and Fz1). Correspondingly, the second pair of load sensors 210, 212 may measure a second set of forces along the three axes (Fx2, Fy2, and Fz2). It is to be noted that the first set of forces and the second set of forces may be continuously recorded throughout the gripping action by the gripper 304 from the contact to a peak gripping effect. Subsequently, the sensor data collected by each load sensor may be transmitted to the controller 502. The computing module 610, in response to the sensor data received by each load sensor 206, 208, 210, 212, may be configured to determine a resultant force. The controller 502 may compute the resultant force by vector summing all the force components of the plurality of load sensors 206, 208, 210, 212 along all the three axes. The equation for the resultant force is:F_R= v((Fx1+Fx2)^2 + ?(Fy1+Fy2)?^2 + ?(Fz1+Fz2)?^2 )
Here, Fx1 is the force determined by the first pair of load sensors 206, 208 along the X axis. Fx2 is the force determined by the second pair of load sensors 210, 212 along the X axis. Fy1 is the force determined by the first pair of load sensors 206, 208 along the Y axis. Fy2 is the force determined by the second pair of load sensors 210, 212 along the Y axis. Fz1 is the force determined by the first pair of load sensors 206, 208 along the Z axis. Fz2 is the force determined by the second pair of load sensors 210, 212 along the Z axis. Further, the FR is the calculated resultant force.
The resultant force may represent the total gripping force applied by the pair of jaws of the gripper 304 on the plurality of strings 214, 216. Further, the controller 502 may analyze the resultant force with a predefined force range to verify the gripping force of the gripper 304. As apparent from Table 1 below, in case the resultant force of the gripper 304 falls within the predefined force range, the gripper 304 may be considered as compliant. Conversely, in case the resultant force of the gripper 304 deviates from the predefined force range, the gripper 304 may be classified as non-compliant and may be subjected to further analysis and refinement for performance improvement.
Gripping Action Resultant Force Standard Force Classification (Compliant/Non-Compliant)
Handling Force = 0.65 N 0.75 N 0.1 – 1N Compliant
Handling Force = 0.06 N 0.25 0.1-1 N Non-Compliant
Needle-Holding Force = 14 N 20 N 10 - 50 N Compliant
Gripping force = 7 N 6 N 2-10 N Compliant
Gripping force = 5 N 12 N 2 – 10 N Non-Compliant
As apparent in Table 1, when a handing force is 0.65N and the calculated resultant force comes out to be 0.75N, the handling force may be classified as compliant as the resulting force falls within the standard force range of 0.1 – 1N. Correspondingly, when the handing force is 0.06N and the calculated resultant force comes out to be 0.25N, the handling force may be classified as non-compliant as the resulting force falls beyond the standard force range of 0.1 – 1N. It is to be noted that the handling force may include the force required to handle and operate a surgical instrument (i.e. gripper 304). Further, when a needle-holding force is 0.14N and the calculated resultant force comes out to be 20N, the needle-holding force may be classified as compliant as the resulting force falls within the standard force range of 10 – 50N. Further, when a gripping force is 7N and the calculated resultant force comes out to be 6N, the gripping force may be classified as compliant as the resulting force falls within the standard force range of 2– 10N. Correspondingly, when the gripping force is 5N and the calculated resultant force comes out to be 12N, the gripping force may be classified as non-compliant as the resulting force falls beyond the standard force range of 2– 10N.
It should be noted that all such aforementioned modules 602–610 may be represented as a single module or a combination of different modules. Further, as will be appreciated by those skilled in the art, each of the modules 602–610 may reside, in whole or in parts, on one device or multiple devices in communication with each other. In some embodiments, each of the modules 602–610 may be implemented as dedicated hardware circuit comprising custom application-specific integrated circuit (ASIC) or gate arrays, off-the-shelf semiconductors such as logic chips, transistors, or other discrete components. Each of the modules 602–610 may also be implemented in a programmable hardware device such as a field programmable gate array (FPGA), programmable array logic, programmable logic device, and so forth. Alternatively, each of the modules 602–610 may be implemented in software for execution by various types of processors (e.g., processor 104). An identified module of executable code may, for instance, include one or more physical or logical blocks of computer instructions, which may, for instance, be organized as an object, procedure, function, or other construct. Nevertheless, the executables of an identified module or component need not be physically located together but may include disparate instructions stored in different locations which, when joined logically together, include the module and achieve the stated purpose of the module. Indeed, a module of executable code could be a single instruction, or many instructions, and may even be distributed over several different code segments, among different applications, and across several memory devices.
As will be appreciated by one skilled in the art, a variety of processes may be employed for optimizing resource utilization in cloud-based data processing platforms. For example, the system 100 and the associated processor 102 may determine reference to dynamic values for performing load testing by the processes discussed herein. In particular, as will be appreciated by those of ordinary skill in the art, control logic and/or automated routines for performing the techniques and steps described herein may be implemented by the system 100 and the associated controller 502 either by hardware, software, or combinations of hardware and software. For example, suitable code may be accessed and executed by the one or more processors on the system 100 to perform some or all of the techniques described herein. Similarly, application specific integrated circuits (ASICs) configured to perform some, or all of the processes described herein may be included in the one or more processors on the system 100.
FIG. 7 illustrates a flowchart 700 of an implementation of a methodology of verifying the gripping force of the gripper 304, in accordance with an embodiment of the present disclosure. Such methodology may be embedded in the memory 506 of the controller 502, which when executed, may cause the controller 502 to determine the resultant force exerted by the gripper 304.
At step 702, the controller 502 may be configured to tune the plurality of load sensors 206, 208, 210, 212 and the plurality of tension strings 214, 216 to a preset condition during initial setup and configuration. Particularly, by tuning to the preset condition, the tuning module 602 may set the output to zero under a no-load condition. Moreover, the pre-tensioning the plurality of tension strings 214, 216 may ensure that only dynamic force from the gripper 304 may be recorded by the force sensing unit 204 during testing. Further, each load sensor 206, 208, 210, 212 of the force sensing unit 204 may be individually calibrated by the calibration tool via the plurality of apertures 114 formed on the top portion 108 of the external housing 104. Further, the controller 502 may set the predefined distance between the first tension string 214 and the second tension string 216 to match the maximum jaw span of the gripper 304.
At step 704, the controller 502 may be configured to actuate the gripper 304 by the actuation mechanism 308 towards the GFV system 102. Particularly, upon the completion of the tuning and calibration process, the gripper 304 may be positioned onto the mounting bracket 306. The pair of jaws 402 of the gripper 304 may be opened by the actuation mechanism 308. Further, the mounting bracket 306 equipped with the gripper 304 may be actuated by the actuator of the actuation mechanism 308, which may gradually move the gripper 304 towards the GFV system 102.
At step 706, the controller 502 may be configured to compress the plurality of tension strings 214, 216 by the gripper 304. Particularly, upon actuation, the gripper 304 may move towards the GFV system 102. In other words, the gripper 304 may be configured to enter the external housing 104 of the GFV system 102 through the access hole 116 and impart the gripping action onto the plurality of tension strings 214, 216. The plurality of tension strings 214, 216, upon being gripped and compressed by the gripper 304, generates the tension force along the length of the plurality of tension strings 214, 216. The plurality of tension strings 214, 216 transfers the generated tension force to the force sensing unit 204.
At step 708, the force sensing unit 204 may be configured to generate a sensor data corresponding to the tension force. Particularly, as the gripper 304 compresses the plurality of tension strings 214, 216, each load sensor 206, 208, 210, 212 of the force sensing unit 204 records the forces experienced along three axes (X, Y, and Z). Accordingly, the first pair of load sensors 206, 208 may measure the first set of forces along the three axes (Fx1, Fy1, and Fz1). Correspondingly, the second pair of load sensors 210, 212 may measure the second set of forces along the three axes (Fx2, Fy2, and Fz2). It is to be noted that the first set of forces and the second set of forces may be continuously recorded throughout the gripping action by the gripper 304 from the contact to a peak gripping effect. Subsequently, the sensor data collected by each load sensor 206, 208, 210, 212 may be transmitted to the controller 502.
At step 710, the controller 502 may be configured to determine a resultant force in response to the sensor data. The controller 502 may compute the resultant force by vector summing all the force components of the plurality of load sensors 206, 208, 210, 212 along all the three axes. The resultant force may represent the total gripping force the pair of jaws of the gripper 304 may apply on the plurality of strings 214, 216. Further, the controller 502 may analyze the resultant force with a predefined force range to verify the gripping force of the gripper 304.
As will be appreciated by those skilled in the art, the techniques described in the various embodiments discussed above are not routine, or conventional, or well-understood in the art. The techniques discussed above provide for the verification of the force when the gripping action is imparted on a plurality of tension strings of the GFV system.
In light of the above-mentioned advantages and the technical advancements provided by the disclosed method and system, the claimed steps as discussed above are not routine, conventional, or well understood in the art, as the claimed steps enable the following solutions to the existing problems in conventional technologies. Further, the claimed steps bring an improvement in the functioning of the device itself as the claimed steps provide a technical solution to a technical problem.
As will be appreciated by those skilled in the art, the method and system described in the various embodiments discussed above are not routine, or conventional or well understood in the art. The method and system discussed above may provide several advantages. The system may be capable of pre-clinical verification which ensures the gripping force applied by the gripper is within safe and effective limits before clinical use, preventing tissue damage and ensuring precise manipulation. Further, the tissue manipulation may be precisely calibrated by measuring the gripping force and calibrating the gripping force with the resultant force, thereby replicating near-realistic tissue manipulation. By verifying the gripping force, the safety of the robotic-assisted surgical systems may be enhanced and the risk of complications such as tissue necrosis, bleeding, or delayed healing may be reduced.
The system may automate the force verification test protocols and the outputs may be recorded in the memory, which significantly improves data integrity. Further, the manufacturing of the surgical instruments may be improved by verifying that each surgical instrument meets the required force specifications, ensuring high standards of performance. Additionally, the system supports research and development (R&D) efforts in designing the surgical tools by providing accurate force measurement data, aiding in the development of safer and more effective instruments.
The illustrated steps are set out to explain the exemplary embodiments shown, and it should be anticipated that ongoing technological development will change the manner in which particular functions are performed. These examples are presented herein for purposes of illustration, and not limitation. Further, the boundaries of the functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternative boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed. Alternatives (including equivalents, extensions, variations, deviations, etc., of those described herein) will be apparent to persons skilled in the relevant art(s) based on the teachings contained herein. Such alternatives fall within the scope and spirit of the disclosed embodiments.
Furthermore, one or more computer-readable storage media may be utilized in implementing embodiments consistent with the present disclosure. A computer-readable storage medium refers to any type of physical memory on which information or data readable by a processor may be stored. Thus, a computer-readable storage medium may store instructions for execution by one or more processors, including instructions for causing the processor(s) to perform steps or stages consistent with the embodiments described herein. The term “computer-readable medium” should be understood to include tangible items and exclude carrier waves and transient signals, i.e., be non-transitory. Examples include random access memory (RAM), read-only memory (ROM), volatile memory, nonvolatile memory, hard drives, CD ROMs, DVDs, flash drives, disks, and any other known physical storage media.
It is intended that the disclosure and examples be considered as exemplary only, with a true scope of disclosed embodiments being indicated by the following claims. , Claims:CLAIMS
I/We Claim:
1. A gripping force verification (GFV) system (102), comprising:
a force sensing unit (204) comprising a plurality of load sensors (206, 208, 210, 212) integrated within an external housing (104), wherein the plurality of load sensors (206, 208, 210, 212) are interconnected horizontally, or vertically with a plurality of tension strings (214, 216);
wherein the plurality of tension strings (214, 216) is configured to be gripped and compressed by a gripper (304), wherein the gripper (304) is actuated to impart a gripping action on the plurality of tension strings (214, 216) to generate a tension force along each tension string within the plurality of tension strings (214, 216), and in response to the tension force, the force sensing unit (204) is configured to generate sensor data corresponding to the tension force; and
a controller (310) communicably coupled to the force sensing unit (204) to determine a resultant force based on the sensor data, wherein the resultant force is representative of a gripping force resulted by the gripping action of the gripper (304).
2. The GFV system (102) as claimed in claim 1, wherein the controller (310) is configured to analyze the resultant force with a predefined force range to verify the gripping force of the gripper (304).
3. The GFV system (102) as claimed in claim 1, wherein the controller (310) calibrates the plurality of load sensors (206, 208, 210, 212) based on the sensor data received therefrom when the plurality of load sensors (206, 208, 210, 212) are configured to a predefined load using a calibration tool, and wherein the calibration tool configures the plurality of load sensors (206, 208, 210, 212) to a predefined load via a plurality of apertures (114) formed on the external housing (104).
4. The GFV system (102) as claimed in claim 1, wherein each load sensor from the plurality of load sensors (206, 208, 210, 212) comprises:
a tensioner (226, 228); and
a post (230, 232) coupled to at least one load sensor,
wherein the tensioner (226, 228) and the post (230, 232) are cooperatively configured to tune the plurality of load sensors (206, 208, 210, 212) to a preset condition before the plurality of tension strings (214, 216) are gripped by the gripper (304).
5. A method (700) of verifying a gripping force, the method (700) comprising:
determining, by a controller (310), a resultant force based on sensor data generated by a force sensing unit (204), wherein the force sensing unit (204) comprises:
a plurality of load sensors (206, 208, 210, 212) integrated within an external housing (104), wherein the plurality of load sensors (206, 208, 210, 212) is interconnected horizontally or vertically with a plurality of tension strings (214, 216),
wherein the sensor data is generated based on a tension force generated along the plurality of tension strings (214, 216),
wherein the tension force is generated in response to a gripping action on the plurality of tension strings (214, 216) by a gripper (304), and
wherein the resultant force is representative of a gripping force resulted from the gripping action of the gripper (304).
6. The method (700) as claimed in claim 5, comprising:
analyzing, by the controller (310), the resultant force with a predefined force range for verifying the gripping force of the gripper (304).
7. The method (700) as claimed in claim 5, wherein determining the resultant force comprises:
calibrating, by the controller (310), the plurality of load sensors (206, 208, 210, 212) based on the sensor data received therefrom when the plurality of load sensors (206, 208, 210, 212) are configured to a predefined load using a calibration tool, wherein the calibration tool configures the plurality of load sensors (206, 208, 210, 212) to a predefined load via a plurality of apertures (114) formed on the external housing (104).
8. The method (700) as claimed in claim 5, wherein determining the resultant force comprises:
each load sensor from the plurality of load sensors (206, 208, 210, 212) comprises:
a tensioner (226, 228); and
a post (230, 232) coupled to at least one load sensor,
wherein the tensioner (226, 228) and the post (230, 232) are cooperatively configured to tune the plurality of load sensors (206, 208, 210, 212) to a preset condition before the plurality of tension strings (214, 216) are gripped by the gripper (304).